Automatic driving control apparatus

1. An automatic driving control apparatus comprising: an outside environment recognizer configured to recognize an outside environment of a vehicle; a traveling information detector configured to detect traveling information of the vehicle; a positioning device configured to perform positioning of the vehicle; a map information output device configured to store map information including information on a road shape; and a controller configured to execute an automatic driving control of the vehicle on a basis of one or more of a result of the recognition of the outside environment, the traveling information, a result of the positioning, and the map information, wherein upon the execution of the automatic driving control, the controller determines, on a basis of the result of the positioning and the map information, presence or absence of a tollgate within a predetermined distance, from the vehicle, on a road on which the vehicle travels, the controller makes a transition in an operation mode of the vehicle from a regular traveling mode to a tollgate passing mode, on one of a condition that the presence of the tollgate is determined within the predetermined distance from the vehicle and an increase in width of the road is recognized on a basis of the result of the recognition of the outside environment, and a condition that the presence of the tollgate is determined within the predetermined distance from the vehicle and the width of the road becomes unrecognizable on the basis of the result of the recognition of the outside environment, and when the operation mode of the vehicle is set to the tollgate passing mode, the controller sets a first target path on a basis of one or both of first position information of the tollgate and second position information of the tollgate, and controls each of a traveling speed of the vehicle and a steering angle of the vehicle to thereby cause the vehicle to travel along the first target path, the first target path being a target path along which the vehicle is to pass through the tollgate, the first position information being recognized on the basis of the result of the recognition of the outside environment, the second position information being determined on a basis of the map information.

2. The automatic driving control apparatus according to claim 1 , wherein in a period of time excluding, within a period of time during which the automatic driving control is executed, a period of time during which the operation mode of the vehicle is set to the tollgate passing mode, the controller recognizes, on the basis of the result of the recognition of the outside environment, one or more of a linear mark, a dashed-line mark, a curb, a guardrail, and a side wall that are provided along the road, and sets a second target path, the second target path being a target path along which the vehicle is to travel upon traveling along the road, and the controller controls each of the traveling speed of the vehicle and the steering angle of the vehicle to thereby cause the vehicle to travel along the second target path.

3. The automatic driving control apparatus according to claim 1 , wherein, on a condition that the operation mode of the vehicle is set to the tollgate passing mode, and the tollgate is unrecognizable on the basis of the result of the recognition of the outside environment, the controller sets a third target path on a basis of the second position information of the tollgate, and controls each of the traveling speed of the vehicle and the steering angle of the vehicle to thereby cause the vehicle to travel along the third target path, the third target path being a virtual target path, and on a condition that the tollgate is recognized on the result of the recognition of the outside environment after the controller has set the third target path and has controlled each of the traveling speed of the vehicle and the steering angle of the vehicle to thereby cause the vehicle to travel along the third target path, the controller sets the first target path on the basis of the first position information of the recognized tollgate.

4. The automatic driving control apparatus according to claim 2 , wherein, on a condition that the operation mode of the vehicle is set to the tollgate passing mode, and the tollgate is unrecognizable on the basis of the result of the recognition of the outside environment, the controller sets a third target path on a basis of the second position information of the tollgate, and controls each of the traveling speed of the vehicle and the steering angle of the vehicle to thereby cause the vehicle to travel along the third target path, the third target path being a virtual target path, and on a condition that the tollgate is recognized on the result of the recognition of the outside environment after the controller has set the third target path and has controlled each of the traveling speed of the vehicle and the steering angle of the vehicle to thereby cause the vehicle to travel along the third target path, the controller sets the first target path on the basis of the first position information of the recognized tollgate.

5. The automatic driving control apparatus according to claim 1 , wherein the controller makes the transition in the operation mode of the vehicle from the regular traveling mode to the tollgate passing mode on a condition that the vehicle travels on a branch road branched from a main road of a toll road.

6. The automatic driving control apparatus according to claim 2 , wherein the controller makes the transition in the operation mode of the vehicle from the regular traveling mode to the tollgate passing mode on a condition that the vehicle travels on a branch road branched from a main road of a toll road.

7. The automatic driving control apparatus according to claim 3 , wherein the controller makes the transition in the operation mode of the vehicle from the regular traveling mode to the tollgate passing mode on a condition that the vehicle travels on a branch road branched from a main road of a toll road.

8. The automatic driving control apparatus according to claim 4 , wherein the controller makes the transition in the operation mode of the vehicle from the regular traveling mode to the tollgate passing mode on a condition that the vehicle travels on a branch road branched from a main road of a toll road.

9. An automatic driving control apparatus comprising: at least one first sensor configured to recognize an outside environment of a vehicle; at least one second sensor configured to detect a traveling state of the vehicle; a positioning device configured to perform positioning of the vehicle; a map information output device configured to store map information including information on a road shape; and circuitry configured to execute an automatic driving control of the vehicle on a basis of one or more of a result of the recognition of the outside environment, the traveling information, a result of the positioning, and the map information, wherein upon the execution of the automatic driving control, the circuitry determines, on a basis of the result of the positioning and the map information, presence or absence of a tollgate within a predetermined distance, from the vehicle, on a road on which the vehicle travels, the circuitry makes a transition in an operation mode of the vehicle from a regular traveling mode to a tollgate passing mode, on one of a condition that the presence of the tollgate is determined within the predetermined distance from the vehicle and an increase in width of the road is recognized on a basis of the result of the recognition of the outside environment, and a condition that the presence of the tollgate is determined within the predetermined distance from the vehicle and the width of the road becomes unrecognizable on the basis of the result of the recognition of the outside environment, and when the operation mode of the vehicle is set to the tollgate passing mode, the circuitry sets a first target path on a basis of one or both of first position information of the tollgate and second position information of the tollgate, and controls each of a traveling speed of the vehicle and a steering angle of the vehicle to thereby cause the vehicle to travel along the first target path, the first target path being a target path along which the vehicle is to pass through the tollgate, the first position information being recognized on the basis of the result of the recognition of the outside environment, the second position information being determined on a basis of the map information.

10. An automatic driving control method comprising: recognizing an outside environment of a vehicle; detecting traveling information of the vehicle; performing positioning of the vehicle; storing map information including information on a road shape; and executing an automatic driving control of the vehicle on a basis of one or more of a result of the recognition of the outside environment, the traveling information, a result of the positioning, and the map information, wherein upon the execution of the automatic driving control, presence or absence of a tollgate within a predetermined distance, from the vehicle, on a road on which the vehicle travels is determined on a basis of the result of the positioning and the map information, a transition in an operation mode of the vehicle from a regular traveling mode to a tollgate passing mode is performed, on one of a condition that the presence of the tollgate is determined within the predetermined distance from the vehicle and an increase in width of the road is recognized on a basis of the result of the recognition of the outside environment, and a condition that the presence of the tollgate is determined within the predetermined distance from the vehicle and the width of the road becomes unrecognizable on the basis of the result of the recognition of the outside environment, and when the operation mode of the vehicle is set to the tollgate passing mode, a first target path is set on a basis of one or both of first position information of the tollgate and second position information of the tollgate, and each of a traveling speed of the vehicle and a steering angle of the vehicle is controlled to thereby cause the vehicle to travel along the first target path, the first target path being a target path along which the vehicle is to pass through the tollgate, the first position information being recognized on the basis of the result of the recognition of the outside environment, the second position information being determined on a basis of the map information.